Image processing apparatus and image processing method
a technology of image processing and image processing apparatus, which is applied in the field of image processing apparatus and image processing method, can solve the problems of difficult to prepare the photographed image of an object, requires a very cumbersome adjustment by an operator, and is difficult to prepare a sphere having the same reflection characteristic as that of the object, so as to achieve the effect of easy generation
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first embodiment
[0031]Image processing of generating a training image to be used to generate a dictionary which is referred to in image recognition processing of detecting an object from an input image will be explained below. The training image is generated to approximate the surface luminance of an object to be detected (to be referred to as a “target object” hereinafter) by reflecting environmental conditions based on information obtained by capturing the target object in an actual environment.
[0032][Generation of Training Image]
[0033]FIG. 1A shows the arrangement of an image processing apparatus which performs image recognition processing in the first embodiment.
[0034]A model setting unit 1010 sets the model of a target object and stores it in a model storage unit 1020. An image acquisition unit 1110 acquires a pre-acquired image by capturing the target object, and stores the pre-acquired image in an image storage unit 1120. An observation data distribution obtaining unit 1130 obtains the obser...
embodiment
Modification of Embodiment
[0090]The first embodiment has described an example in which a luminance image and range image including the target object 400 are acquired from capturing by the image capturing apparatus 300. However, the present invention is applicable to even a case in which the image capturing apparatus 300 does not have the distance measurement function. A modification when the image capturing apparatus 300 cannot acquire a range image will be explained.
[0091]FIG. 1B shows the arrangement of an image processing apparatus when a range image is generated by estimating the position and orientation of the target object 400 by using a tracking technique. Note that the same reference numerals as those in FIG. 1A denote the same parts, and a description thereof will not be repeated.
[0092]The arrangement shown in FIG. 1B includes a range image generation unit 1140 which generates a range image. The user superposes the model of the target object 400 on a luminance image capture...
second embodiment
[0093]The second embodiment according to the present invention will be described. The first embodiment has been described on the premise that the target object is an object of a single color. However, the target object sometimes has a plurality of colors. For example, part of a target object is made of black plastic and another part is made of white plastic. In this case, the luminance characteristic changes depending on the portion of the target object. The second embodiment will explain an example in which a training image is generated for a target object having a plurality of luminance characteristics.
[0094]The basic arrangement for performing image recognition processing in the second embodiment is the same as that of FIG. 1A in the first embodiment, except for details of processing by a luminance estimation unit 1210 which estimates the surface luminance of a target object from an observation data distribution.
[0095]FIG. 8 shows the arrangement of the luminance estimation unit ...
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